extern int l1[4];
extern int r1[4];
extern int l2[4];                 
extern int r2[4];
extern int l3[4];
extern int r3[4];
extern int m1[4];
extern int get_max_time;
extern float k_l1,k_r1,k_l2,k_r2,k_l3,k_r3,k_m1;
extern float e_error_max;
extern int temp_left_1;
extern int temp_right_1;
extern int temp_middle_1;
extern int temp_left_2;
extern int temp_right_2;
extern int temp_left_3;
extern int temp_right_3;
extern int old_l1,old_r1;
extern int turn_flag;
extern int zhi_flag;

extern void AD_Init(void);
extern void turn_PWM_init(void);
extern void get_signal(void);
extern void steer_control(void);

extern float key_turn_P,key_turn_D,turn_P,turn_D;
extern float mid_max,key_mid_max;
extern float turn_change,key_turn_change;
extern float error1,error2;
extern float error3;
extern float error4;
extern float temp_k_a;
extern int turnner,key_turnner;
extern float k_mid,key_k_mid;
extern float last_error;
extern float mid_bound;
extern float temp_turn_P;
extern float k_a;
//extern float e_error_max;
extern float limit_e_error;
extern int old_turnner;
extern int last_turnner;
extern float bound_turnner_1;
extern float bound_turnner_2;
extern float e_error_zero;
extern int flag_cross;
extern int sensor_bu;
extern int sensor_row[5];
extern int sensor_sum1;
extern int sensor_sum3;
extern int sensor_dec1;
extern int sensor_dec3;
extern float bound_cross1;
extern float bound_cross2;
extern float temp_turn_D;
extern float e_error[3];
extern float error[2];
extern float error_D;
extern float error_P;

extern int max(int a,int b,int c,int d,int e);
extern float F_ABS(int a);
extern int I_ABS(int a);
